JP7581582B2 - Concrete spraying support system - Google Patents

Description

The present invention relates to a concrete spraying support system.

In the construction of mountain tunnels, a series of construction cycles are carried out: after excavation and removal of a specified length, the first spraying of concrete (first spraying) is carried out against the sides and face of the completed tunnel, support structures are erected, the second spraying (secondary spraying) is carried out, and then rock bolts are installed as necessary.
In the primary and secondary spraying, a concrete sprayer equipped with a cabin for an operator, a boom with a spray nozzle at the tip (spray nozzle boom), etc. is generally used. This concrete sprayer is often equipped with multiple spray nozzle booms, and concrete sprayers equipped with a boom with a man cage at the tip (man cage boom) are also common.
The operator in the cabin visually monitors the spraying status of the shotcrete from a safe position several meters away from the face, while extending and rotating the boom and spraying the concrete through the spray nozzle, thereby spraying the concrete onto the face etc.

When applying a concrete sprayer equipped with multiple booms as described above, a separate worker other than the operator is generally deployed to check for interference between the operating spray nozzle boom and the mancage or mancage boom, and the risk of such interference. In this case, the worker who checks for interference stands between the concrete sprayer and the face to check for interference and reports the situation to the operator as needed, which raises the risk of accidents in which the worker is caught in the operating boom or in which the face collapses due to standing near the face, posing a problem in terms of work safety.
In addition, because the concrete spraying machine is located away from the face, etc., the operator in the cabin has difficulty clearly seeing the spraying area that he or she wants to check, which changes from time to time depending on the progress of the concrete spraying work.

In view of the above, there is a need for a concrete spraying support system that allows an operator to independently perform boom operation and concrete spraying operations while checking for interference between multiple booms, etc., and clearly checking the spraying conditions on the sprayed surface, during concrete spraying work using a concrete spraying machine.

Patent Document 1 proposes a concrete spraying operation support device that uses a small number and type of sensors and allows the worker to grasp the angle of the spray nozzle relative to the tunnel wall surface. This concrete spraying operation support device is equipped with a pitch angle sensor attached to a nozzle arm mechanism equipped with a spray nozzle of a concrete sprayer and detects the pitch angle of the spray nozzle, a roll angle sensor attached to the nozzle arm mechanism and detects the roll angle of the spray nozzle, an orientation sensor attached to the nozzle arm mechanism and detects the orientation on the horizontal plane, and a monitor device that visually displays the orientation of the spray nozzle relative to the tunnel wall surface to which concrete is to be sprayed as a numerical value or an image based on the detected pitch angle, detected roll angle, and detected orientation.

JP 2017-179877 A

According to the concrete spraying operation support device described in Patent Document 1, the orientation of the spray nozzle can be controlled to be perpendicular to the target ground by checking the orientation of the spray nozzle on a monitor device, thereby increasing the adhesion of the sprayed concrete and reducing the amount of rebound. However, even if this concrete spraying operation support device is applied, it is difficult to address the above-mentioned problem, that is, in concrete spraying work using a concrete sprayer, for an operator to independently check for interference between multiple booms, etc., and to clearly check the spraying condition on the sprayed surface while performing boom operation and concrete spraying operation.

The present invention aims to provide a concrete spraying support system that allows an operator to perform boom operation and concrete spraying operations while checking for interference between multiple booms, etc., and clearly checking the spraying conditions on the sprayed surface.

In order to achieve the above object, one aspect of the concrete spraying support system according to the present invention is to
A concrete spraying support system that is equipped to a concrete spraying machine that sprays concrete against the face and sides of a tunnel,
A first imaging device installed in front of and/or above a cabin of the concrete sprayer;
A second imaging device installed in a position different from the first imaging device in front of or above a mancage, a mancage boom, or a cabin of the concrete sprayer;
a control device that acquires first imaging data captured by the first imaging device and second imaging data captured by the second imaging device;
The image processing device further comprises a display device that displays, in parallel, a first captured image based on the first imaging data and a second captured image based on the second imaging data, both of which are transmitted from the control device.

According to this aspect, two or three (or two or three sets) of imaging devices are installed in front of and/or above the cabin of the concrete sprayer and on the mancage (or mancage boom), and the imaging data from each imaging device is transmitted to a display device via a control device, and the first and second captured images from both are displayed in parallel on the display device.This allows, for example, an operator to check for interference between multiple booms, etc. based on the images from two directions, and to clearly check the spraying condition on the sprayed surface, and it becomes possible to operate the spray nozzle boom and perform concrete spraying operations based on such confirmation.
Here, a fisheye camera or a stereo camera (both of the two cameras are fisheye cameras, etc.) can be applied as the first imaging device and the second imaging device. By applying a fisheye camera or a stereo camera, stereoscopic vision becomes possible, and it becomes possible to operate while grasping the sense of perspective based on the image. In addition, there are various combination forms of the first imaging device and the second imaging device, such as a combination form of a first imaging device in front of the cabin and a second imaging device in the man cage (for example, below), a combination form of a first imaging device above the cabin and a second imaging device in the man cage, a combination form of a first imaging device in front of the cabin and a second imaging device above the cabin, a combination form of two first imaging devices in front and above the cabin and a second imaging device in the man cage, etc. Furthermore, in a configuration in which the first imaging device and the second imaging device are installed in front of and above the cabin, for example, the first imaging device in front of the cabin can be installed slightly to the left of the concrete sprayer and the second imaging device above the cabin can be installed slightly to the right of the concrete sprayer (or the left and right can be reversed), which is preferable because it makes it possible to change the position of the blind spot in the image and eliminate the blind spot itself.

The first imaging device located in front of or above the cabin images the entire area in front of the concrete sprayer, and when the concrete sprayer is arranged facing the tunnel face, the first imaging device faces the tunnel face and images the entire area and the side of the tunnel (the excavated side) to the side. Meanwhile, the second imaging device installed on the mancage or mancage boom images the location or area that the operator wants to check from various angles by operating the mancage boom. Therefore, the operator can simultaneously view (confirm) the first image of the entire area of the tunnel face or side, and the second image of a specific part enlarged from various angles (e.g., an image of the condition of a specific sprayed surface) or a second image of a specific area overlooked (e.g., an image of the relative positions of the booms).
Furthermore, by applying this embodiment, concrete spraying work can be performed by the operator alone, preventing accidents in which other workers supporting the operator are caught in the work or in which the face collapses. However, from the standpoint of construction efficiency, concrete spraying work may also be carried out by multiple people, including the operator and other workers supporting the operator.

In another aspect of the concrete spraying support system according to the present invention,
The control device is characterized in that it is possible to freely switch between one of the first captured image and the second captured image as a main image and the other as a sub-image.

According to this aspect, one of the first and second captured images is displayed as a main image and the other is displayed in parallel as a sub-image, so that the image that the operator wants to view is displayed as an enlarged image as the main image, thereby further improving operability for the operator.
Here, in the case of normal side-by-side display, the first captured image and the second captured image are set to be the same or approximately the same size, and when one image is set as the main image, the one image may be enlarged to become the enlarged image and the other image may be reduced to become the sub-image, or the main image and the sub-image may be normally displayed side-by-side. Switching between the main image and the sub-image can be performed, for example, by an operation device operated by an operator.

For example, during the first spraying, concrete is sprayed quickly over the entire target, which consists of the face and the side adjacent to the face, so it is advisable to use the first image captured by the first imaging device installed in front of the cabin as the main image and constantly check the entire target on a relatively large screen. The second imaging device then moves each time to a position that eliminates the blind spot of the first imaging device by the operation of the mancage boom, or to a position that overlooks each boom, etc., and the blind spot area of the first imaging device and the relative positional relationship of each boom are confirmed using the second image, which is a sub-image.

On the other hand, during the secondary spraying, concrete is sprayed around supporting structures such as H-shaped steel beams, so in order to check that concrete has been sprayed sufficiently on each detail of the supporting structures and on the interface between the primary spraying surface and the supporting structures, it is advisable to use the second image captured by the second imaging device installed in the mancage as the main image and check the enlarged details of the sprayed areas on a large screen. The first image is an overhead view of each boom, and the relative positional relationships of each boom are checked using the sub-image, the first image.

In another aspect of the concrete spraying support system according to the present invention,
The display device is characterized in that it is a head-mounted display worn by an operator.

According to this aspect, the display device is a head mounted display (HMD) worn by the operator, so that the operator can view the first captured image and the second captured image while maintaining the posture for operating the operating device, etc. (without looking at a display screen on a separate computer, etc.), and perform the operation of the mancage boom and the spray nozzle boom and the concrete spraying operation, improving the operability of the operator and enabling safe and smooth concrete spraying construction to be realized. In addition, the fact that the display device is a head mounted display worn by the operator is also suitable for concrete spraying work by the operator alone.

In another aspect of the concrete spraying support system according to the present invention,
The head mounted display is equipped with a third imaging device that captures a third captured image, which is an image of the operator's hands, and further has an operating device that can freely switch between displaying the first captured image and the second captured image and displaying the third captured image on the head mounted display.

According to this aspect, the head-mounted display is equipped with a third imaging device that captures the third image, which is an image at the operator's hands, and the operator operates an operation device on the head-mounted display that switches between the display of the first and second captured images and the display of the third captured image, thereby further improving the operability of the operation device by the operator, making it ideal for concrete spraying work by the operator alone.
Here, the operating device includes an operating button (or operating lever) for the spray nozzle boom, an activation (spray) button for the spray nozzle, an operating button for the mancage boom, as well as an image display switching button and the like.

In another aspect of the concrete spraying support system according to the present invention,
The display device is a multi-display,
The concrete spraying support system further includes a gyro-equipped helmet worn by an operator,
When the head of the operator turns, an image of the turning direction of the helmet in the first captured image and the second captured image is displayed.

According to this aspect, the display device is a multi-display, and when the head of an operator wearing a gyro-equipped helmet is rotated, images of the rotation direction of the helmet in the first captured image and the second captured image are displayed, thereby enabling an operator who has difficulty wearing a head-mounted display to perform concrete spraying work alone.
For operators who are sensitive to the claustrophobic and nauseating sensations that can occur when wearing a head-mounted display, it is difficult to wear a head-mounted display, so instead of wearing a head-mounted display, a multi-display is applied, for example, two displays are arranged side by side, one of which displays a first captured image and the other displays a second captured image. Then, when the head of an operator wearing a helmet with a gyro turns, an image in the direction of the rotation is displayed on each display in synchronization with the rotation of the helmet, allowing the operator to visually confirm the area he or she wants to see through the display. At this time, since the operator is not wearing a head-mounted display, he or she can directly check the surroundings and the operating device.
It is desirable that the cabin be equipped with both a head mounted display and a multi-display so that the operator can select either one according to his/her preference.

In another aspect of the concrete spraying support system according to the present invention,
The first imaging device and the second imaging device are both housed in their own protective boxes;
The front surface of the protective box is provided with a transparent tempered glass.
A transparent film is aligned on the front surface of the tempered glass,
A plurality of the transparent films are laminated on the front surface of the tempered glass and are peeled off whenever the glass becomes dirty; or
The transparent film is characterized in that it is automatically or manually wound up every time it becomes soiled.

According to this aspect, both the first imaging device and the second imaging device are housed in a unique protective box with transparent tempered glass on the front, which allows imaging in front of the imaging device while protecting the transparent tempered glass from rebound material during concrete spraying. Furthermore, by aligning a transparent film with the front of the tempered glass, and having a form in which multiple transparent films are overlapped and attached to the front of the tempered glass and peeled off whenever it becomes dirty, or having a form in which the transparent film is automatically or manually rolled up whenever it becomes dirty, it is possible to always ensure visibility of the front of the tempered glass and maintain a state in which imaging by the imaging device is possible.

In another aspect of the concrete spraying support system according to the present invention,
The present invention is characterized in that a rotating table is provided in front of and/or above the cabin, and the first imaging device is mounted on the rotating table.

By mounting the first imaging device on a rotating platform provided in front of and/or above the cabin, the angle of the first imaging device can be adjusted by rotating the rotating platform, and the accumulated rebound in the protective box housing the first imaging device can be easily cleaned. Here, it is preferable that the rotating platform is installed in a position within reach of the operator in front of the cabin, so that the operator can rotate or turn the rotating platform by hand. On the other hand, if the rotating platform is located above the cabin, the operator cannot or has difficulty reaching the rotating platform, so it is preferable to rotate the rotating platform in a wired or wireless remote control type.

The concrete spraying support system of the present invention allows an operator to independently perform boom operation and concrete spraying operations while checking for interference between multiple booms, etc., and clearly checking the spraying conditions on the sprayed surface.

1 is a perspective view showing an example of a concrete spraying support system according to an embodiment. FIG. FIG. 1 is a perspective view showing a head-mounted display as an example of a display device. FIG. 2 is a diagram showing an example of a main image and a sub-image. FIG. 13 is a diagram showing another example of the main image and the sub-image. FIG. 13 is a diagram showing an example of an image at hand, in which an example of an operating device is displayed on the screen. 1 is a cross-sectional view showing an example of a protection box accommodating an imaging device and its surrounding structure. FIG. 6B is a view taken in the direction of the arrow B in FIG. 6A, and is a front view of the protective box. 2 is a diagram illustrating an example of a hardware configuration of a control device constituting the concrete spraying support system. FIG. FIG. 13 is a diagram showing another example of a display device together with an operator wearing a helmet with a gyro.

The concrete spraying support system according to the embodiment will be described below with reference to the attached drawings. Note that in this specification and the drawings, substantially identical components may be designated by the same reference numerals to avoid redundant description.

[Concrete spraying support system according to the embodiment]
An example of a concrete spraying support system according to an embodiment will be described with reference to Figs. 1 to 8. Here, Fig. 1 is a perspective view showing an example of a concrete spraying support system according to an embodiment, and Fig. 2 is a perspective view showing a head-mounted display as an example of a display device. Also, Figs. 3 and 4 are both diagrams showing examples of a main image and a sub image, and Fig. 5 is a diagram showing an example of an image at hand, showing a state in which an example of an operating device is displayed on the screen. Furthermore, Fig. 6A is a cross-sectional view showing an example of a protective box in which an imaging device is housed and its surrounding structure, and Fig. 6B is a view in the direction of the arrow B in Fig. 6A, showing a front view of the protective box. In the following description, a form in which a first imaging device is provided in front of a cabin and a second imaging device is provided below a man cage will be shown and described, but other forms may be used, such as a form in which a first imaging device is located above a cabin and a second imaging device is located in a man cage, a form in which a first imaging device is located in front of a cabin and a second imaging device is located above a cabin, or a form in which two first imaging devices are located in front of and above a cabin and a second imaging device is located in a man cage.

The concrete spraying support system 100 is a system equipped on a concrete spraying machine 10 that sprays concrete onto the face K and spraying surface F of the side S of a tunnel T.

In the construction of mountain tunnels, a construction cycle is formed by excavating and pulling out the tunnel to a specified length, spraying the first concrete C1 onto the side S and face K of the constructed tunnel T, erecting the supports E, and spraying the second concrete C2. This cycle is repeated as the tunnel is excavated. Here, there is also a construction method in which rock bolts are installed after the second spraying C2, if necessary.

The primary spraying C1 and secondary spraying C2 are carried out by the concrete spraying machine 10. Figure 1 shows the situation in which the primary spraying is carried out after excavation and removal are completed, by spraying concrete from the spray nozzle 25 in the Y1 direction against the face K, which is the spraying surface F.

The concrete spraying machine 10 has a crawler-type spraying cart 11 equipped with a cabin 12, and multiple booms attached to the spraying cart 11. The booms in the illustrated example are a spraying nozzle boom 20A equipped with a spraying nozzle 25 at its tip, another boom 20B in a ready state for mounting a separate spraying nozzle, and a man cage boom 20C equipped with a man cage 28 that can rotate freely. Taking the spraying nozzle boom 20A as an example, it can freely extend and retract in the X1 direction, rotate in the X2 direction on a horizontal or inclined surface, and rotate in the X3 direction on a vertical surface. These various operations are similarly performed on the other booms.

The cabin 12 is equipped with a control device 50, and a rotating table 15 that rotates in the Z1 direction in a horizontal plane is installed at the front (face side) of the cabin 12, and a protective box 40A that houses a first imaging device 30A is placed on the rotating table 15.

On the other hand, a protective box 40B housing a second imaging device 30B is fixed to a lower forward position of the man cage 28.

Here, the first imaging device 30A and the second imaging device 30B are both stereo cameras, and each camera that constitutes the stereo camera is a fisheye camera. By using a stereo camera, stereoscopic vision becomes possible, and operator P can operate each boom while grasping the perspective based on the image.

The first imaging data captured by the first imaging device 30A and the second imaging data captured by the second imaging device 30B are transmitted to the control device 50. Here, each imaging device 30 and the control device 50 may be connected by wire, or may be connected so as to be able to transmit and receive imaging data via wireless communication.

The operator P in the cabin 12 wears a head-mounted display 60A (an example of a display device), which displays a first captured image based on the first imaging data and a second captured image based on the second imaging data transmitted from the control device 50 side by side.

As shown in FIG. 2, the head-mounted display 60A has a display body 61 with a third imaging device 64 in front, a headband 62, and a display screen 63 mounted on the inside of the display body 61.

On the display screen 63, a first captured image by the first imaging device 30A located directly opposite the working face K and a second captured image by the second imaging device 30B moving in accordance with the movement of the mancage boom 20C are displayed side by side. The side-by-side display on the display screen 63 of the head-mounted display 60A can be a form in which the two captured images are displayed one above the other or side to side. Furthermore, one of the images that the operator P wants to see can be a relatively large image as a main image, and the other image can be a relatively small image as a sub-image.

Now, with reference to Figures 3 and 4, we will explain examples of the display displayed on the display screen 63.

In the example shown in FIG. 3, the first captured image is displayed on the display screen 63 as a main image MI on a relatively large screen, and below that, the second captured image is displayed on a relatively small screen as a sub-image SI.

Here, the second imaging device 30B captures the spraying condition of the spray nozzle 25 against the face K from the left side of the spray nozzle boom 20A.

During the primary spraying, concrete is sprayed quickly over the entire target, which consists of the face K and the side surface S connected to the face K. Therefore, it is desirable to use the first image captured by the first imaging device 30A as the main image, so that the operator P can always check the entire target on a relatively large screen.

In addition, by operating the mancage boom 20C, the second imaging device 30B is moved each time to a position that eliminates the blind spot of the first imaging device 30A or to a position that overlooks each boom, etc., and the blind spot area of the first imaging device 30A and the relative positional relationship of each boom can be confirmed in the sub-image, the second imaging image, thereby preventing interference between the booms, etc., and enabling the operator P to grasp various detailed conditions in the spraying area while ensuring construction safety.

In view of the above, during the primary spraying, it is preferable for operator P to operate each boom and the spray nozzle 25 while using the first captured image as the main image and the second captured image as the sub-image.

In the example shown in FIG. 4, the second captured image is displayed on the display screen 63 as a relatively large main image MI, and the first captured image is displayed below it as a relatively small sub-image SI. As in the examples shown in FIG. 3 and FIG. 4, image switching between the main image MI and the sub-image SI can be performed by the operation device 80 (see FIG. 5) held by the operator P.

Here, the second imaging device 30B captures an image of the spraying state of the spray nozzle 25 against the right side surface S from the left side of the spray nozzle boom 20A.

During the secondary spraying, concrete is sprayed around the shoring, so by using the second image captured by the second imaging device 30B installed in the mancage as the main image, operator P can check that concrete has been sprayed sufficiently on each detail of the shoring and on the interface between the primary spraying surface and the shoring.

In addition, the first imaging device 30A captures an overhead image of each boom, etc., allowing the operator P to check the relative positions of each boom in the sub-image, the first captured image, thereby preventing interference between the booms and ensuring construction safety.

In view of the above, during secondary spraying, it is preferable for operator P to operate each boom and the spray nozzle 25 while using the second captured image as the main image and the first captured image as the sub-image.

An operator P equipped with a head-mounted display 60A cannot directly check the operating device 80 in his/her hand. Therefore, a third imaging device 64 equipped to the head-mounted display 60A is configured to capture an image of the operating device 80 in the operator P's hand, and this third captured image, which is an image of the device in the operator's hand, can also be displayed on the display screen 63.

Figure 5 shows the operating device 80 included in the handheld image TI. The operating device 80 includes a device box 81, which includes, for example, a main switch 82 (main power ON/OFF), a safety amplifier 83 (green when there is no contact between the booms or when the spray nozzle 25 is not touching the spray surface F, etc., and red when there is contact, etc., indicating a fall), a spray nozzle boom rotation lever 84, a mancage boom rotation lever 85, an other boom rotation lever 86, a spray nozzle discharge button 87, and a screen change switch 88. Here, each switch and lever is an example, and various levers, buttons, dials, etc. may be provided.

The screen changeover switch 88 is a switch for switching between the main image and sub-image of the first captured image and the second captured image shown in FIG. 3 and FIG. 4, and for switching between the screen displaying the first captured image and the second captured image and the image of the operator P at his/her fingertips shown in FIG. 5. When the operator P wants to check the image at his/her fingertips, he/she operates the screen changeover switch 88, which switches the display screen 63 to the image at his/her fingertips TI, allowing him/her to check the positions of various levers and buttons.

In this way, the concrete spraying support system 100 is equipped with a first imaging device 30A installed in front of the cabin 12 and a second imaging device 30B installed below the man cage 28, and images captured by each imaging device 30 are displayed in parallel on the display screen 63 of the head-mounted display 60A worn by the operator P, and the operating device 80 included in the image of the operator P's hands captured by the third imaging device 64 equipped on the head-mounted display 60A is similarly switched and displayed on the display screen 63, allowing the operator P to perform concrete spraying work alone and preventing accidents such as getting other workers supporting the operator P caught up in, as occurs in conventional construction.

Next, the protective box 40 housing the imaging device 30 and its surrounding structure will be described with reference to Figures 6A and 6B.

The first imaging device 30A and the second imaging device 30B, which are stereo cameras, are housed inside their own protective boxes 40A and 40B, respectively, and the imaging devices 30 are fixed to a fixing jig 42.

A transparent reinforced glass 41 is provided on the front of the protective box 40, and a transparent film 46 is aligned on the front of the transparent reinforced glass 41.

Gaskets 45 are attached to the left and right ends of the front of the protective box 40. A servo motor 43 is attached to the front of one side, and an adjuster 44 is attached to the front of the other side, and unused transparent film 46A is wound on it and attached so that it can be freely unwound while rotating. One end of the transparent film 46 is fixed to a winding shaft (not shown) below the servo motor 43 so that it can be freely wound.

With the transparent film 46 supported by packings 45 at the left and right ends of the front of the protective box 40, it surrounds the front of the transparent reinforced glass 41, and the transparent film 46 is fixed by the adjuster 44. This transparent film 46 can protect the transparent reinforced glass 41 from rebound material when spraying concrete. In addition, the packing 45 can prevent dust and the like from entering the transparent reinforced glass 41.

When the transparent film 46 becomes soiled, the adjuster 44 is released from its fixed position, and the servo motor 43 is driven to move the transparent film 46 in the Y2 direction and wind it up as used transparent film 46B. At the same time, a new transparent film 46 is unwound from the unused transparent film 46A and aligned with the front surface of the transparent reinforced glass 41. The unused transparent film 46A is then moved backwards by the adjuster 44, and the transparent film 46 is fixed in a taut state.

The structure of the illustrated example protects the reinforced glass 41 from rebound material and the like, while always ensuring visibility in front of the reinforced glass 41, allowing imaging by the imaging device 30 to be maintained.

Here, in addition to the illustrated example, the transparent film may be wound manually without using a servo motor. Alternatively, multiple transparent films may be laminated on the front surface of the tempered glass, and peeled off whenever the glass becomes dirty.

As shown in FIG. 1, the protective box 40A housing the first imaging device 30A is placed on a rotating platform 15 located in front of the cabin 12. This rotating platform 15 is located within reach of the operator P seated in the cabin 12. Therefore, when adjusting the angle of the first imaging device 30A or cleaning the accumulated rebound in the protective box 40A, the angle of the first imaging device 30A can be easily adjusted or the accumulated rebound can be easily cleaned by manually rotating or turning the rotating platform 15 in the Z1 direction.

Next, the hardware configuration of the control device 50 constituting the concrete spraying support system 100 will be described with reference to FIG. 7. Here, the head-mounted display 60A may also have a similar hardware configuration.

The control device 50 is composed of an information processing device such as a personal computer (PC) or a workstation (WS), and is configured by a computer.

As shown in FIG. 2, the control device 50 includes a CPU (Central Processing Unit) 51, a main memory device 52, an auxiliary memory device 53, a communication IF (interface) 54, and an input/output IF 55, which are interconnected by a connection bus 56. The main memory device 52 and the auxiliary memory device 53 are computer-readable recording media. Note that each of the above components may be provided separately, or some of the components may not be provided.

The CPU 51 is also called an MPU (Microprocessor) or a processor, and may be a single processor or a multiprocessor. The CPU 51 is a central processing unit that performs overall control of the control device 50, which is made up of a computer. The CPU 51 provides functions that meet a specific purpose, for example, by expanding a program stored in the auxiliary storage device 53 so that it can be executed in the working area of the main storage device 52, and controlling peripheral devices through the execution of the program.

The main storage device 52 stores the computer programs executed by the CPU 51 and the data processed by the CPU 51. The main storage device 52 includes, for example, a flash memory, a RAM (Random Access Memory), and a ROM (Read Only Memory). The auxiliary storage device 53 stores various programs and various data in a readable and writable recording medium, and is also called an external storage device. The auxiliary storage device 53 stores, for example, an OS (Operating System), various programs, various tables, and the like. The OS includes, for example, a communication interface program that transfers data to and from an external device connected via the communication IF 54. The external device includes, for example, a communication device provided in the imaging device 30, a communication device provided in the head-mounted display 60A, and a communication device provided in a management computer in a work site outside the tunnel (none of which are shown). The network includes a public network such as the Internet, a wireless network such as a mobile phone network, a dedicated network such as a VPN (Virtual Private Network), a LAN (Local Area Network), and a LPWA (Low Power Wide Area).

The auxiliary storage device 53 is used, for example, as a storage area that supports the main storage device 52, and stores the computer programs executed by the CPU 51 and the data processed by the CPU 51. The auxiliary storage device 53 is a silicon disk including a non-volatile semiconductor memory (flash memory, EPROM (Erasable Programmable ROM)), a hard disk drive (HDD: Hard Disk Drive) device, a solid state drive device, etc. Examples of the auxiliary storage device 53 include drives for removable recording media such as CD drives, DVD drives, and BD drives, and examples of the removable recording media include CDs, DVDs, BDs, USB (Universal Serial Bus) memory, and SD (Secure Digital) memory cards.

The communication IF 54 is an interface with the network to which the control device 50 is connected. The communication IF 54 receives imaging data from the communication device provided in each imaging device 30 via the network, and transmits the imaging data to the head-mounted display 60A, a management computer, etc.

The input/output IF 55 is an interface that inputs and outputs data between devices connected to the control device 50. For example, input devices such as a keyboard, a touch panel, a mouse, or other pointing device, and a microphone are connected to the input/output IF 55. The control device 50 receives operation instructions, etc. from an operator who operates the input device via the input/output IF 55.

The input/output IF 55 is also connected to a display device such as a liquid crystal display (LCD) or an organic electroluminescence (EL) panel, a printer, a speaker, and other output devices. For example, an image similar to the display screen 63 of the head-mounted display 60A is displayed on the display device.

<Other Examples of Display Devices>
Next, another example of the display device will be described with reference to Fig. 8. Here, Fig. 8 is a diagram showing the other example of the display device together with an operator wearing a helmet with a gyro.

The display device shown in the figure is composed of a multi-display 60B in which two displays 60a and 60b are arranged in parallel.

An operator P wearing a protective mask M does not wear a head-mounted display as shown in FIG. 1, etc., but instead wears a helmet 90 to which a gyroscope 92 is attached.

For operator P, who is sensitive to the claustrophobic and nauseating sensations that can occur when wearing a head-mounted display, wearing a head-mounted display is difficult, so instead of wearing a head-mounted display, a multi-display 60B is used, as shown in the example.

By arranging two displays 60a, 60b side by side and displaying the first captured image on one and the second captured image on the other, both images are displayed side by side. When the head of operator P wearing helmet 90 equipped with gyro 92 rotates in the Z2 direction, each display 60a, 60b displays an image in the direction of rotation in synchronization with the rotation of the helmet 90.

This allows operator P to visually confirm the area he or she wants to see through displays 60a and 60b. At this time, since operator P is not wearing a head-mounted display, he or she can directly check the surroundings and the operating device 80 at hand.

Note that the configurations described in the above embodiments may be combined with other components, and the present invention is not limited to the configurations shown here. In this regard, changes can be made without departing from the spirit of the present invention, and can be determined appropriately according to the application form.

10: Concrete spraying machine 11: Spraying cart 12: Cabin (operator cabin)
15: Rotating table 20A: Spray nozzle boom 20B: Other boom 20C: Man cage boom 25: Spray nozzle 28: Man cage 30: Imaging device 30A: First imaging device 30B: Second imaging device 40, 40A, 40B: Protective box 41: Transparent reinforced glass 42: Fixing jig 43: Servo motor 44: Adjuster 45: Gasket 46: Transparent film 46A: Unused transparent film 46B: Used transparent film 50: Control device 60: Display device 60A: Head mounted display 60B: Multi-display 60a, 60b: Display 61: Display body 62: Headband 63: Display screen 64: Third imaging device 80: Operation device 81: Device box 82: Main switch 83: Safety amplifier 84: Spray nozzle boom rotation lever 85: Man cage boom rotation lever 86: Other boom rotation lever 87: Spray nozzle discharge button 88: Screen changeover switch 90: Helmet 92: Gyro 100: Concrete spraying support system T: Tunnel (mountain tunnel)
K: Face S: Side F: Sprayed surface C1: Primary spraying E: Support C2: Secondary spraying P: Operator MI: Main image SI: Sub-image TI: Image at hand M: Protective mask

Claims (6)

A concrete spraying support system that is equipped to a concrete spraying machine that sprays concrete against the face and sides of a tunnel,
A first imaging device is installed in front of and/or above a cabin of the concrete sprayer arranged directly opposite the face , and captures an image of the entire area in front of the concrete sprayer ;
a second imaging device that is installed on a mancage or mancage boom of the concrete sprayer and captures an image of a location or area that an operator of the concrete sprayer wants to check when the mancage boom is operated by the operator of the concrete sprayer ;
a control device that acquires first imaging data captured by the first imaging device and second imaging data captured by the second imaging device;
A concrete spraying support system comprising: a display device that displays, in parallel, a first captured image based on the first imaging data and a second captured image based on the second imaging data transmitted from the control device. The concrete spraying support system of claim 1, characterized in that the control device is capable of freely switching between one of the first captured image and the second captured image as an enlarged image that is a main image, and the other as a reduced image that is a sub-image. 3. The concrete spraying support system according to claim 1, wherein the display device is a head-mounted display worn by the operator. The concrete spraying support system according to claim 3, characterized in that the head-mounted display is equipped with a third imaging device that captures a third captured image, which is an image of the operator's hands, and further has an operation device that allows the head-mounted display to freely switch between displaying the first captured image and the second captured image and displaying the third captured image. The first imaging device and the second imaging device are both housed in their own protective boxes;
The front surface of the protective box is provided with a transparent tempered glass.
The front surface of the tempered glass is surrounded by a transparent film;
A plurality of the transparent films are laminated on the front surface of the tempered glass and are peeled off whenever the glass becomes dirty; or
5. The concrete spraying support system according to claim 1 , wherein the transparent film is adapted to be automatically or manually wound up each time it becomes dirty. A concrete spraying support system as described in any one of claims 1 to 5 , characterized in that a rotating table is provided in front of and/or above the cabin, and the first imaging device is equipped on the rotating table.

Images